NUMERICAL-ANALYSIS OF THE KINEMATIC DEXTERITY OF MECHANISMS

被引：15
|
作者：
YANG, FC
HAUG, EJ
机构：
[1] Center for Simulation and Design Optimization of Mechanical Systems, Department of Mechanical Engineering, The University of Iowa, Iowa City, IA
[2] Yuan-ze Institute of Technology, Neihli
来源：
JOURNAL OF MECHANICAL DESIGN | 1994年 / 116卷 / 01期
关键词：
D O I：
10.1115/1.2919334
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
A general approach to numerical analysis of the kinematic dexterity of mechanisms is presented. Dextrous workspace problems are first defined and illustrated with examples. Composite workspaces are introduced to characterize both positioning and orienting capabilities of mechanisms. A numerical formulation and computer implementation that incorporates computer graphics and a numerical algorithm for solving systems of nonlinear equations are presented. Using the composite workspace formulation and the computer implementation, numerical techniques for dextrous workspace analysis are presented. Examples are given to illustrate the techniques developed.
引用
收藏
页码：119 / 126
页数：8
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